The purpose of this study was to improve the manual mode of an advanced teleoperator system in a hostile environment which is inaccessible to human operators. In an advanced teleoperator system, if an error occurs during an operation, the automatic mode is converted into a manual mode in which the error can be recovered. In this study, the following proposals for improving the manual mode are introduced. First, a combined fuzzy process is constructed in the operation by the control program to reduce the uncertainty in a human operator correctly reading the position and posture of a task object. Second, the pitch/range test and pitch change rules of heuristic rules are reinforced in the operation by the control program so that the range in which the robot hand can move can be increased. Third, the geometric straight line motion by which the robot hand can move in a straight line, the Cartesian coordinate system, is designed in the operation by a human. As a result, the overall recovery time consisting of the coordinate reading, the movement time, and the operation by a human can be reduced.
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